Adaptive Finite-Time Fuzzy Control of Nonlinear Active Suspension Systems With Input Delay

• Published in: IEEE transactions on cybernetics Vol. 50; no. 6; pp. 2639 - 2650
• Main Authors: Na, Jing, Huang, Yingbo, Wu, Xing, Su, Shun-Feng, Li, Guang
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.06.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active control; Active suspension systems; Adaptive algorithms; Adaptive control; Closed loop systems; Computer simulation; Delay effects; Delays; Dynamic stability; Dynamical systems; Feedback control; finite-time (FT) convergence; Fuzzy control; Fuzzy logic; fuzzy logic systems (FLSs); Fuzzy systems; input time delay; Nonlinear control; Nonlinear dynamics; Nonlinear systems; Parameter estimation; Suspension systems; Suspensions (mechanical systems); System effectiveness; Systems stability; Time lag; Vehicle dynamics
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2019.2894724

This paper presents a new adaptive fuzzy control scheme for active suspension systems subject to control input time delay and unknown nonlinear dynamics. First, a predictor-based compensation scheme is constructed to address the effect of input delay in the closed-loop system. Then, a fuzzy logic system (FLS) is employed as the function approximator to address the unknown nonlinearities. Finally, to enhance the transient suspension response, a novel parameter estimation error-based finite-time (FT) adaptive algorithm is developed to online update the unknown FLS weights, which differs from traditional estimation methods, for example, gradient algorithm with <inline-formula> <tex-math notation="LaTeX">{e} </tex-math></inline-formula>-modification or <inline-formula> <tex-math notation="LaTeX">{\sigma } </tex-math></inline-formula>-modification. In this framework, both the suspension and estimation errors can achieve convergence in FT. A Lyapunov-Krasovskii functional is constructed to prove the closed-loop system stability. Comparative simulation results based on a dynamic simulator built in a professional vehicle simulation software, Carsim, are provided to demonstrate the validity of the proposed control approach, and show its effectiveness to operate active suspension systems safely and reliably in various road conditions.